This project deal's with the design, implementation and testing of controllers on a model of a portal crane. The controllers act as an anti-sway system based on velocities. The purpose of these controllers is to ease the task of a crane operator.\\
Firstly the crane model is analysed for behaviour and performance after which a mathematical description of the crane is derived. This naturally non-linear model is then linearised to enable the design of the desired controllers.\\
Two controllers are designed; a frequency domain controller and a state space controller. Both controllers are designed to fulfil a list of performance specifications including limits on steady state error and overshoot among others.\\
The controllers are tested according to the performance specifications. The frequency domain controller is found to fulfil 19 of 33 specifications and the state space controller fulfils all 33 of 33 specifications. In a user test the two controllers are found to perform roughly equally well and with a significant improvement to a non-regulated crane.